0x280C - QueryForceTorque
Description
This message is used to query the force/torque for one or more devices. Note that the requested coordinate system may not be respected if the underlying service does not support transformations, as given in the ReportForceTorqueCapabilities message.
Structure
QueryForceTorqueQueryForceTorqueList
QueryForceTorqueList
Type: List
| Element Type | Count Type | Min Count | Max Count |
|---|---|---|---|
| QueryForceTorqueRec | uint16 | 0 | 65535 |
QueryForceTorqueRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | SensorID | uint16 | one | false | The ID of the sensor. A value of zero (0) means all sensors |
| 2 | CoordinateSystem | uint8 | one | false | |
| 3 | QueryPresenceVector | uint8 | one | false | See ReportForceTorqueRec |